CN-122008318-A - Wheel type humanoid robot

CN122008318ACN 122008318 ACN122008318 ACN 122008318ACN-122008318-A

Abstract

The application relates to a wheeled humanoid robot, which comprises a movable chassis, a chest and a mechanical arm. The movable chassis is provided with a battery compartment for accommodating a battery. The chest is connected with the movable chassis. The mechanical arm is connected with the chest, and the mechanical arm can take the battery out of the battery compartment and put the battery into the battery compartment. When the wheel type humanoid robot is used, when the electric quantity of the battery is smaller than the target value, the movable chassis can move to the battery replacing equipment, the battery with lower electric quantity in the battery compartment is taken out by the mechanical arm, and then the battery with full electric quantity is grasped and is placed in the battery compartment. Therefore, the battery can be automatically replaced, time and labor are saved, and extra large-scale battery replacing equipment is not needed.

Inventors

XU HANGYU
LI DINGHONG
MING DONGPING
GUO ZHONGLIANG

Assignees

重庆凤凰技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (15)

1. A wheeled humanoid robot, comprising: the movable chassis is provided with a battery compartment, and the battery compartment is used for accommodating batteries; a chest connected to the movable chassis, and And the mechanical arm is connected with the chest, and can take the battery out of the battery compartment and/or put the battery into the battery compartment.
2. The wheeled humanoid robot of claim 1 wherein the battery compartment has a plurality of access openings for the battery and the access openings of the battery compartment are provided on at least one of the top and side surfaces of the movable chassis.
3. The wheeled humanoid robot of claim 1, further comprising an ejection mechanism disposed within the battery compartment for ejecting at least a portion of the battery from within the battery compartment.
4. The wheeled humanoid robot of claim 3 further including a locking mechanism disposed on the movable chassis, the locking mechanism having a locked state and an unlocked state, the locking mechanism locking the battery located in the battery compartment when the locking mechanism is in the locked state, the locking mechanism releasing the battery located in the battery compartment when the locking mechanism is in the unlocked state, and the pushing mechanism pushing at least a portion of the battery out of the battery compartment.
5. The wheeled humanoid robot of claim 4, wherein the locking mechanism includes a mounting base, a locking member, a first elastic member and an electromagnetic coil, the mounting base is connected with the movable chassis, the locking member is movably disposed on the mounting base, the first elastic member is connected between the locking member and the mounting base, the electromagnetic coil is wound on the mounting base, when the electromagnetic coil is energized, the mounting base generates magnetic force to enable the locking member to move so as to switch to the unlocking state, and the locking member enables the first elastic member to elastically deform, and when the electromagnetic coil is de-energized, the first elastic member enables the locking member to reversely move under the action of self-reset force so as to switch to the locking state.
6. The wheeled humanoid robot of claim 4 further including a manual unlocking member connected to the locking mechanism, the manual unlocking member extending at least partially out of the movable chassis, the manual unlocking member being capable of driving the locking mechanism to move to the unlocked state.
7. The wheeled humanoid robot of claim 3 further including an adapter plate disposed in the battery compartment, the adapter plate having a first connector for electrically connecting with an output connector of the battery and a second connector for electrically connecting with an input connector of the battery, the push-out mechanism being connected with the adapter plate.
8. The wheeled humanoid robot of claim 7, wherein the pushing mechanism includes a thimble and a second elastic member, the adapter plate is provided with a through hole, the thimble is movably disposed in the through hole in a penetrating manner, the thimble is connected with at least one of the movable chassis and the adapter plate through the second elastic member, and the thimble is further in abutting fit with the back surface of the battery.
9. The wheeled humanoid robot of claim 8 wherein the ejector pins, the second elastic members, and the through holes are all plural, each ejector pin is disposed corresponding to each through hole, each ejector pin is also disposed corresponding to each second elastic member, and plural through holes are disposed at intervals on the adapter plate.
10. The wheeled humanoid robot of claim 7, wherein the pushing mechanism includes a multi-link assembly, a third elastic member, and a push plate, the multi-link assembly and the third elastic member are each connected between the push plate and the adapter plate, and the push plate is configured to be in abutting engagement with a back surface of a battery.
11. The wheeled humanoid robot of claim 10, wherein the pushing mechanisms are two, and the two pushing mechanisms are respectively disposed at opposite ends of the adapter plate.
12. The wheeled humanoid robot of claim 10, wherein the push plate is provided with a first magnetic attraction piece for magnetic attraction cooperation with a second magnetic attraction piece on the battery.
13. The wheeled humanoid robot of claim 7 wherein the pushing mechanism includes two strong magnets of opposite polarity, one of which is disposed on the adapter plate and the other of which is used to be disposed on the back of the battery, or an electric push rod connected to the adapter plate and also in abutting engagement with the battery.
14. The wheeled humanoid robot of any one of claims 1-13, further comprising a first camera and a controller, the first camera being connected to the chest, an imaging location of the first camera being disposed opposite the movable chassis, the first camera and the robotic arm being electrically connected to the controller.
15. The wheeled humanoid robot of claim 14, wherein the wheeled humanoid robot further satisfies at least one of the following conditions: (1) The wheeled humanoid robot further comprises a second camera and a head, wherein the head is connected to the top of the chest, the second camera is connected with the head, and the second camera is electrically connected with the controller; (2) The wheeled humanoid robot further comprises a navigation system, wherein the navigation system is connected to at least one of the movable chassis and the chest, and the navigation system is electrically connected with the controller; (3) The wheeled humanoid robot further comprises a multi-degree-of-freedom adjusting joint, and the multi-degree-of-freedom adjusting joint is connected between the chest and the movable chassis.

Description

Wheel type humanoid robot Technical Field The application relates to the technical field of robots, in particular to a wheeled humanoid robot. Background With the development of robot technology, robots with various specific functions are widely applied to various fields such as storage, logistics, security and the like, and work efficiency and work reliability are greatly improved while labor intensity of workers is reduced. Existing robots are typically powered by rechargeable batteries, and when the battery power carried on the robot is depleted or is about to be depleted, the robot moves to a charging station to replace or charge the battery online. The wheel type humanoid robot, which is one of robots, combines the efficient and stable performance of the traditional wheel type mobile platform with the flexible operation capability of the humanoid upper body, has obvious advantages in the current technical development stage, and is particularly suitable for executing complex tasks in a structured environment. In the wheeled humanoid robot in the related art, the battery mostly adopts a whole pack of batteries with large capacity and is detachably placed in the robot chassis. When the electric quantity of the battery is insufficient, the wheel type humanoid robot moves to the charging pile for online charging or moves to the battery replacement station for manual battery replacement. Because the weight of the battery is heavy, the manual battery replacement is inconvenient to operate, time and labor are consumed, and the charging pile needs to wait 1 to 2 hours for charging, so that the waiting time is long. Disclosure of Invention Based on this, it is necessary to provide a wheeled humanoid robot capable of realizing autonomous battery replacement, time-saving and labor-saving, aiming at the defects of the prior art. The application provides a wheeled humanoid robot, comprising: the movable chassis is provided with a battery compartment, and the battery compartment is used for accommodating batteries; a chest connected to the movable chassis, and And the mechanical arm is connected with the chest, and can take the battery out of the battery compartment and/or put the battery into the battery compartment. In one embodiment, the battery compartment is provided with a plurality of inlets and outlets for taking and placing the batteries, and the inlets and outlets of all the battery compartments are arranged on at least one of the top surface and the side surface of the movable chassis. In one embodiment, the wheeled humanoid robot further comprises a pushing mechanism disposed within the battery compartment for pushing at least a portion of the battery out of the battery compartment. In one embodiment, the wheeled humanoid robot further comprises a locking mechanism, wherein the locking mechanism is arranged on the movable chassis and is provided with a locking state and an unlocking state, the locking mechanism locks the battery in the battery bin when the locking mechanism is in the locking state, the locking mechanism releases the battery in the battery bin when the locking mechanism is in the unlocking state, and the pushing mechanism pushes at least part of the battery out of the battery bin. In one embodiment, the locking mechanism comprises a mounting seat, a locking piece, a first elastic piece and an electromagnetic coil, wherein the mounting seat is connected with the movable chassis, the locking piece is movably arranged between the mounting seat, the first elastic piece is connected between the locking piece and the mounting seat, the electromagnetic coil is wound on the mounting seat, when the electromagnetic coil is electrified, the mounting seat generates magnetic force to enable the locking piece to move so as to switch to the unlocking state, the locking piece enables the first elastic piece to elastically deform, and when the electromagnetic coil is powered off, the first elastic piece enables the locking piece to reversely move under the action of self reset force so as to switch to the locking state. In one embodiment, the wheeled humanoid robot further comprises a manual unlocking piece, wherein the manual unlocking piece is connected with the locking mechanism, at least part of the manual unlocking piece extends out of the movable chassis, and the manual unlocking piece can drive the locking mechanism to move to the unlocking state. In one embodiment, the wheeled humanoid robot further comprises an adapter plate, the adapter plate is arranged in the battery compartment, the adapter plate is provided with a first connector and a second connector, the first connector is used for being electrically connected with an output connector of the battery, the second connector is used for being electrically connected with an input connector of the battery, and the pushing mechanism is connected with the adapter plate. In one embodiment, the pushing mechanism includes a thimble and a second elast